Multi-UAV Cooperative Exploring for the Unknown Indoor Environment Based on Dynamic Target Tracking

This paper proposes a method for collaborative exploration adopting multiple UAVs in an unknown GPS-denied indoor environment. The core of this method is to use the Tracking-D*Lite algorithm to track moving targets in unknown terrain, combined with the Wall-Around algorithm based on the Bug algorithm to navigate the UAV in the unknown indoor environment. The method adopts the advantages of the above two algorithms, where the UAV applies the Wall-Around algorithm to fly around the wall and utilizes the Tracking-D*Lite algorithm to achieve collaboration among UAVs. This method is simulated and visualized by using Gazebo, and the results show that it can effectively take the advantages of multiple UAVs to explore the unknown indoor environments. Moreover, the method can also draw the boundary-contour map of the entire environment at last. Once extended to the real world, this method can be applied to dangerous buildings after earthquakes, hazardous gas factories, underground mines, or other search and rescue scenarios.